Methods for detecting robotic arm end effector attachment and devices thereof

Abstract

Methods, non-transitory computer readable media, interface adapter devices, and surgical computing devices and systems that detect and analyze connectivity of an end effector to a robotic arm are disclosed. With this technology, an interface adapter device of a robotic arm includes a connectivity sensor that determines when an end effector is disconnected from the robotic arm to be used as a handpiece by a surgeon to carry out particular surgical task(s) associated with a surgical procedure. The interface adapter device can instruct the robotic arm to automatically enter an inactive state defined in a surgical plan for the surgical procedure upon detection of the disconnection. Upon reconnection of the handpiece, or installation of a different handpiece, the interface adapter device automatically facilitates readjustment of the robotic arm based on an active state (e.g., automated resumption of the surgical procedure) defined in a surgical plan for the surgical procedure.

We claim: 
     
         1 . A method for intraoperative management of end effector connectivity, the method implemented by one or more of a surgical computing device or an interface adapter device and comprising:
 obtaining a surgical plan for a surgical procedure, wherein the surgical plan comprises one or more transitionary parameters defining one or more of an inactive state for a robotic arm and an active state for the robotic arm;   generating connectivity data from sensor data output by a connectivity sensor coupled to the robotic arm, wherein the connectivity data is indicative of mechanical connectivity of an end effector to the robotic arm, wherein a surgical tool is coupled to the end effector;   intraoperatively determining based on the connectivity data whether the end effector has been disconnected from the robotic arm for use as a handpiece facilitating manual control of the surgical tool or whether the end effector has been connected to the robotic arm; and   automatically controlling the robotic arm in accordance with the inactive state or the active state, when the determination indicates that the end effector has been disconnected from the robotic arm or the end effector has been connected to the robotic arm, respectively.   
     
     
         2 . The method of  claim 1 , further comprising, when the determination indicates that the end effector has been connected to the robotic arm, automatically controlling the robotic arm to, in accordance with the active state:
 resume the surgical procedure according to the surgical plan; and   move the robotic arm based on a position or action defined in the surgical plan.   
     
     
         3 . The method of  claim 1 , further comprising, when the determination indicates that the end effector has been disconnected from the robotic arm, automatically controlling the robotic arm to, in accordance with the inactive state:
 collapse or move away from a patient.   
     
     
         4 . The method of  claim 1 , further comprising, when the determination indicates that the end effector has been connected to the robotic arm:
 determining a tool type of the surgical tool based on one or more of a geometry of a connection of the surgical tool or end effector to the robotic arm or the interface device coupled to the robotic arm, the sensor data, classification of an overall geometry of the surgical tool via an image of the surgical tool captured by a tracking system, or a radio-frequency identification (RFID) tag coupled to the surgical tool;   determining a stage of the surgical procedure based on the tool type; and   extracting one or more of the transitionary parameters from the surgical plan based on the determined stage of the surgical procedure.   
     
     
         5 . A method for intraoperative management of cutting guide connectivity, the method implemented by one or more of a surgical computing device or an interface adapter device and comprising:
 obtaining a surgical plan for a surgical procedure, wherein the surgical plan comprises one or more transitionary parameters defining one or more of an inactive state for a robotic arm or an active state for the robotic arm;   generating connectivity data from a connectivity device coupled to the robotic arm, wherein the connectivity data is indicative of mechanical connectivity of a cutting guide to the robotic arm;   intraoperatively determining based on the connectivity data whether the cutting guide has been disconnected from the robotic arm or whether the cutting guide has been connected to the robotic arm; and   automatically controlling the robotic arm in accordance with the inactive state or the active state, when the determination indicates that the cutting guide has been disconnected from the robotic arm or the cutting guide has been connected to the robotic arm, respectively.   
     
     
         6 . The method of  claim 5 , further comprising, when the determination indicates that the cutting guide has been connected to the robotic arm, automatically controlling the robotic arm to, in accordance with the active state:
 resume the surgical procedure according to the surgical plan; and   move the cutting guide adjacent to a patient's anatomy based on the surgical plan.   
     
     
         7 . The method of  claim 5 , further comprising, when the determination indicates that the cutting guide has been disconnected from the robotic arm, automatically controlling the robotic arm to, in accordance with the inactive state:
 collapse or move away from a patient.   
     
     
         8 . The method of  claim 5 , further comprising:
 determining a stage of the surgical procedure based on the surgical plan; and   extracting one or more of the transitionary parameters from the surgical plan based on the determined stage of the surgical procedure, wherein each of a plurality of stages of the surgical procedure is associated in the surgical plan with a respective one or more of the transitionary parameters.   
     
     
         9 . The method of  claim 5 , wherein the robotic arm is coupled to the interface adapter device, wherein the interface adapter device comprises the connectivity device, wherein the connectivity device is a sensor, wherein the sensor comprises a weight sensor, an electrical sensor, or an electromechanical sensor, and wherein the method further comprises:
 analyzing the sensor data to determine whether the sensor data indicates that the cutting guide is connected to the interface adapter device or the robotic arm; and   generating the connectivity data to reflect the determination.   
     
     
         10 . The method of  claim 5 , wherein the robotic arm comprises a first optical tracker, wherein the cutting guide comprises a second optical tracker, and wherein the method further comprises:
 analyzing the first and second optical tracker data to determine whether a relative position of the first and second optical trackers indicates that the cutting guide is connected to the interface adapter device or the robotic arm; and   generating the connectivity data to reflect the determination.   
     
     
         11 . The method of  claim 5 , further comprising providing an alert in response to one or more of the disconnection of the cutting guide from the robotic arm or the connection of the cutting guide to the robotic arm. 
     
     
         12 . The method of  claim 5 , further comprising automatically controlling the robotic arm in accordance with the inactive state or the active state after a preset delay. 
     
     
         13 . A method for intraoperative management of implant connectivity, the method implemented by one or more of a surgical computing device or an interface adapter device and comprising:
 obtaining a surgical plan for a surgical procedure, wherein the surgical plan comprises one or more transitionary parameters defining one or more of an inactive state for a robotic arm or an active state for the robotic arm;   generating connectivity data from a connectivity device coupled to the robotic arm, wherein the connectivity data is indicative of mechanical connectivity of an implant to the robotic arm;   intraoperatively determining based on the connectivity data whether the implant has been disconnected from the robotic arm or whether the implant has been connected to the robotic arm; and   automatically controlling the robotic arm in accordance with the inactive state or the active state, when the determination indicates that the implant has been disconnected from the robotic arm or the implant has been connected to the robotic arm, respectively.   
     
     
         14 . The method of  claim 13 , further comprising, when the determination indicates that the implant has been connected to the robotic arm, automatically controlling the robotic arm to, in accordance with the active state:
 resume the surgical procedure according to the surgical plan; and   move the implant adjacent to a patient's anatomy based on the surgical plan.   
     
     
         15 . The method of  claim 13 , further comprising, when the determination indicates that the implant has been disconnected from the robotic arm, automatically controlling the robotic arm to, in accordance with the inactive state:
 collapse or move away from a patient.   
     
     
         16 . The method of  claim 13 , further comprising:
 determining a stage of the surgical procedure based on the surgical plan; and   extracting one or more of the transitionary parameters from the surgical plan based on the determined stage of the surgical procedure, wherein each of a plurality of stages of the surgical procedure is associated in the surgical plan with a respective one or more of the transitionary parameters.   
     
     
         17 . The method of  claim 13 , wherein the robotic arm is coupled to the interface adapter device, wherein the interface adapter device comprises the connectivity device, wherein the connectivity device is a sensor, wherein the sensor comprises a weight sensor, an electrical sensor, or an electromechanical sensor, and wherein the method further comprises:
 analyzing the sensor data to determine whether the sensor data indicates that the implant is connected to the interface adapter device or the robotic arm; and   generating the connectivity data to reflect the determination.   
     
     
         18 . The method of  claim 13 , wherein the robotic arm comprises a first optical tracker, wherein the implant comprises a second optical tracker, and wherein the method further comprises:
 analyzing the first and second optical tracker data to determine whether a relative position of the first and second optical trackers indicates that the implant is connected to the interface adapter device or the robotic arm; and   generating the connectivity data to reflect the determination.   
     
     
         19 . The method of  claim 13 , further comprising providing an alert in response to one or more of the disconnection of the implant from the robotic arm or the connection of the implant to the robotic arm. 
     
     
         20 . The method of  claim 13 , further comprising automatically controlling the robotic arm in accordance with the inactive state or the active state after a preset delay.